相关论文: Gravity Balanced Arm Exoskeleton for Basketball Sh…

Optimal postural stability is required to perform in archery. Since the dynamic consequences of the string release may disturb the archer's postural equilibrium, they should have integrated them in their motor program to optimize postural…

A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…

This study proposes the realization of various virtual environments using a lower limb exoskeletal robot for futuristic gait rehabilitation. The proposed method allows the user to feel virtual gravity, buoyancy, and drag while actively…

Mechanics and electronic systems can be applied to the physical models to understand the physical phenomena for students in laboratory. In this paper we have developed a robot arm for a laboratory experiment, where students learn how to…

This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity…

Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

The inner movement of a trebuchet with swinging counterweight was measured inside a laboratory by the use of rotation sensors to determine angular coordinates for beam, counterweight and sling. Data collection was started before the…

Ball and hoop system is a well-known model for the education of linear control systems. In this paper, we have a look at this system from another perspective and show that it is also suitable for demonstration of more advanced control…

This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…

Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we…

The potential energy problem in a gravitationally bound two-body system has recently been studied in the framework of a proposed impact model of gravitation \citep{WilDwi}. The result was applied to the free fall of the so-called…

In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…

Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…

Construction workers exert intense physical effort and experience serious safety and health risks in hazardous working environments. Quiet stance and kneeling are among the most common postures performed by construction workers during their…

Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…

Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…

Background: Gravity confounds arm movement ability in post-stroke hemiparesis. Reducing its influence allows effective practice leading to recovery. Yet, there is a scarcity of wearable devices suitable for personalized use across diverse…

A method for asteroid deflection that makes use of a spacecraft moving back and forth on a segment of a Keplerian orbit about the asteroid is studied with the aim of optimizing the initial gross mass of the spacecraft. The corresponding…